cmake_minimum_required(VERSION 3.0.2)
project(tmarm_fb)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
add_compile_options(-g)
add_compile_options(-Wall)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  fake_localization
  laser_filters
  map_server
  robot_state_publisher
  roscpp
  rospy
  std_msgs
  tf
  urdf
  xacro
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(Qt5 REQUIRED COMPONENTS Core Widgets Network)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES tmarm_fb
#  CATKIN_DEPENDS qt5 urdf xacro
#  DEPENDS system_lib
)

set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTOUIC ON)
set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/tmarm_fb.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/tmarm_fb_node.cpp)
add_executable(tmarm_fb_tutorials src/tmarm_fb.cpp)
add_executable(tmarm_fb_qt_tutorials src/tmarm_fb_qt.cpp)

# set(MYNODE3_SOURCES
#   /home/tinnu/project/TableMachineArm/TMARM_LocateDect/TMARM_LocateDect/mainwindow.cpp
#   /home/tinnu/project/TableMachineArm/TMARM_LocateDect/TMARM_LocateDect/UdpReceive.cpp
#   /home/tinnu/project/TableMachineArm/TMARM_LocateDect/TMARM_LocateDect/main.cpp
# )
# set(MYNODE3_FORMS
#   /home/tinnu/project/TableMachineArm/TMARM_LocateDect/TMARM_LocateDect/mainwindow.ui
# )
# add_executable(tmarm_fb_qt_locatedect ${MYNODE3_SOURCES} ${MYNODE3_FORMS})

set(MYNODE4_SOURCES
  src/tmarm_fb_v1/mainwindow.cpp
  src/tmarm_fb_v1/UdpReceive.cpp
  src/tmarm_fb_v1/tmRosNodeHandle.cpp
  src/tmarm_fb_v1/main.cpp
)
set(MYNODE4_FORMS
  /home/tinnu/project/TableMachineArm/TMARM_LocateDect/TMARM_LocateDect/mainwindow.ui
)
add_executable(tmarm_fb_v1 ${MYNODE4_SOURCES} ${MYNODE4_FORMS})

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )
target_link_libraries(tmarm_fb_tutorials 
  ${catkin_LIBRARIES}
)

target_link_libraries(tmarm_fb_qt_tutorials 
  ${catkin_LIBRARIES} 
  Qt5::Widgets
)

# target_link_libraries(tmarm_fb_qt_locatedect 
#   ${catkin_LIBRARIES} 
#   Qt5::Widgets
#   Qt5::Core
#   Qt5::Network  # 此处根据  /usr/lib/x86_64-linux-gnu 下libQt5后缀找库
# )

target_link_libraries(tmarm_fb_v1 
  ${catkin_LIBRARIES} 
  Qt5::Widgets
  Qt5::Core
  Qt5::Network  # 此处根据  /usr/lib/x86_64-linux-gnu 下libQt5后缀找库
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_tmarm_fb.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
